Diff: class_hardware.cpp

Revision:

0:46115ad78747

Child:

2:4a9ed5ca8a9a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/class_hardware.cpp	Mon Apr 18 09:19:10 2016 +0000
@@ -0,0 +1,99 @@
+#include "mbed.h"
+#include "class_hardware.h"
+
+Motor::Motor(PinName pin_pwm, PinName pin_fwd, PinName pin_rev) :
+    pwm(pin_pwm), fwd(pin_fwd), rev(pin_rev) {
+        pwm=0;
+        pwm.period(0.001);
+        fwd=0; rev=0;
+    }
+
+void Motor::stop() {
+    pwm=0;
+    fwd=0; rev=0;
+}
+
+void Motor::stop(bool powered) {
+    pwm=0;
+    if ( powered )
+        { fwd=1; rev=1; }
+    else
+        { fwd=0; rev=0; }
+}
+
+void Motor::set(int speed) {
+    if ( speed > 0 ) {
+        pwm=( (float)(speed) / 100 );
+        fwd=1; rev=0;
+    }
+    else if ( speed < 0 ) {
+        pwm=( (float)(speed) / -100 );
+        fwd=0; rev=1;
+    }
+    else
+        { pwm=0; fwd=0; rev=0; }
+}
+
+IRSensor::IRSensor(PinName pin_ir) :
+    ir(pin_ir) {
+        threshold = 500;
+    }
+
+IRSensor::IRSensor(PinName pin_ir, int threshold_black) :
+    ir(pin_ir) {
+        threshold = threshold_black;
+    }
+
+bool IRSensor::is_black() {
+    if ( ir.read_u16()>>6 > threshold )
+        return true;
+    
+    return false;
+}
+
+int IRSensor::get_data() {
+    return ( ir.read_u16()>>6 );
+}
+
+USSensor::USSensor(PinName pin_trigger, PinName pin_echo) :
+    trigger(pin_trigger),echo(pin_echo) {
+        echo.rise(this, &USSensor::on_rise);
+        echo.fall(this, &USSensor::on_fall);
+        
+        distance = 50;
+    }
+
+USSensor::USSensor(PinName pin_trigger, PinName pin_echo, int distance_set_bool) :
+    trigger(pin_trigger),echo(pin_echo) {
+        echo.rise(this, &USSensor::on_rise);
+        echo.fall(this, &USSensor::on_fall);
+        
+        if (distance_set_bool < 4000 && distance_set_bool > 20)
+            distance = distance_set_bool;
+        else
+            distance = 50;
+    }
+
+void USSensor::initialize() {
+    ticker.attach(this, &USSensor::measure, 0.06);
+    timer.start();
+}
+
+void USSensor::measure() {
+    trigger=1;
+    wait_us(10);
+    trigger=0;
+}
+
+void USSensor::on_rise() {
+    timer.reset();
+}
+
+void USSensor::on_fall() {
+    distance_mm = ( (float)(timer.read_us()) * 1716E-4 );
+    
+    if ( distance_mm < distance )
+        in_distance = true;
+    else
+        in_distance = false;
+}